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DC Field | Value | Language |
---|---|---|
dc.citation.endPage | 297 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 287 | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 12 | - |
dc.contributor.author | SUH, SH | - |
dc.contributor.author | KANG, JK | - |
dc.contributor.author | JEE, WS | - |
dc.contributor.author | Jung, Mooyoung | - |
dc.contributor.author | KIM, KS | - |
dc.date.accessioned | 2023-12-22T13:05:50Z | - |
dc.date.available | 2023-12-22T13:05:50Z | - |
dc.date.created | 2014-09-04 | - |
dc.date.issued | 1994-07 | - |
dc.description.abstract | Position estimation is a key issue for an ALV (Autonomous Land Vehicle) in navigating a mountainous area. The unevenness of the terrain makes mechanical velocity sensors inaccurate (due to wheel slippage), and the lack of appropriate landmarks complicates the problem. In this paper, we present a solution method using features of the skyline. The skyline from the vision system is assumed given, and compared with a computer map, called the CAD-MAP. The algorithm is composed of: a) Identification of the peak points in the camera skyline, b) Computing the ALV position for the identified peak points, and c) Searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed. | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.12, no.4, pp.287 - 297 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.scopusid | 2-s2.0-0028466967 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/5933 | - |
dc.identifier.url | http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=0028466967 | - |
dc.identifier.wosid | A1994NX43100001 | - |
dc.language | 영어 | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | CAD-MAP AND ESTIMATION OF ALV POSITIONS IN MOUNTAINOUS AREAS | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
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